0x2321 - Digital Halls
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2321 | 0x01 | Polarity | UINT8 | RW | No | Yes | UINT8 | 1 | - |
0x2321 | 0x02 | Value | UINT8 | RO | No | No | UINT8 | - | - |
0x2321 | 0x03 | Hall step offset (deprecated*) | UINT8 | RW | No | Yes | 0-5 | 0 | - |
This object allows to set the polarity of the digital halls inputs as well as to read its content.
SubIndex description:
- 0x01 (Polarity): In the polarity SubIndex a logical "0" means that Halls are deployed in the same order than phases, a "1" indicates reverse order.
0x02 (Value): The binary representation of the register value and its corresponding meaning is as follows:
Bit number:
8
7
6
5
4
3
2
1
0 X
X
X
X
X
X
HALL1
HALL2
HALL3
A logical "1" in the input value represents that the pin is active (the electrical level depends on the polarity). Hall step offset does not affect the Hall value.
- 0x03 (Hall step offset)(deprecated*): This object allows assigning the angular displacement (expressed in multiples of 60º) between the sequence of values generated by the Hall sensors and its corresponding excitation. This offset only applies when the system is using BLDC motors.
In that way, a value of 1 will indicate that the sequence of halls is 60º displaced from its theoretical value, a value of 2 corresponds to 120º and so on. In most of the cases, this value should stay at zero.
*
Deprecated register from version 2.3.3